To use networked printers easily, install CUPS (packages: cups and cups-pdf). Activate cups.socket to startup the service when needed.
Go to localhost:631 (or open the CUPS link) for the CUPS web-ui to view printers and documentation.
Login with regular user and password.

To setup an IPP-enabled printer:
lpadmin -p hpprinter -E -v ''%%ipp://10.10.10.210/ipp/print%%'' -m everywhere

Cups → Printers → printer → Administration → Modify printer → Local printer (make, model) → Continue → Select CORRECT maker, model → Modify printer

See https://wiki.archlinux.org/title/CUPS for more info.